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/***************************************************************************

 *   Copyright (C) 2009 by Manuel Schrape                                  *

 *   manuel.schrape@gmx.de                                                 *

 *                                                                         *

 *   This program is free software; you can redistribute it and/or modify  *

 *   it under the terms of the GNU General Public License as published by  *

 *   the Free Software Foundation; either version 2 of the License.        *

 *                                                                         *

 *   This program is distributed in the hope that it will be useful,       *

 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *

 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *

 *   GNU General Public License for more details.                          *

 *                                                                         *

 *   You should have received a copy of the GNU General Public License     *

 *   along with this program; if not, write to the                         *

 *   Free Software Foundation, Inc.,                                       *

 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *

 ***************************************************************************/

#ifndef MK_DATATYPES_H

#define MK_DATATYPES_H

#include <stdint.h>

#ifdef _BETA_

    static const int MK_VERSION_SETTINGS = 85; // wird angepasst, wenn sich die EEPROM-Daten ge�ndert haben

#else

    static const int MK_VERSION_SETTINGS = 85; // wird angepasst, wenn sich die EEPROM-Daten ge�ndert haben

#endif

static const int MK_VERSION_NAVI     =  4; // wird angepasst, wenn sich die Navi-Daten ge�ndert haben

static const int MK_VERSION_MIXER    =  1; // wird angepasst, wenn sich die Mixer-Daten ge�ndert haben

static const int MK_MAX_MOTOR        =  16; // Maximale Anzahl der Motoren im Mixer

// Version des Seriellen Protokoll

static const int VERSION_SERIAL_MAJOR = 11;

static const int VERSION_SERIAL_MINOR = 0;

// Basis-Addressen der verschiedenen Hardware

static const int ADDRESS_ALL    = 0;

static const int ADDRESS_FC     = 1;

static const int ADDRESS_NC     = 2;

static const int ADDRESS_MK3MAG = 3;

static const int ADDRESS_BLC    = 5;

#define FCFLAG_MOTOR_RUN        0x01

#define FCFLAG_FLY              0x02

#define FCFLAG_CALIBRATE        0x04

#define FCFLAG_START            0x08

#define FCFLAG_NOTLANDUNG       0x10

#define FCFLAG_LOWBAT           0x20

#define FCFLAG_SPI_RX_ERR       0x40

#define FCFLAG_I2CERR           0x80

#define DEFEKT_G_NICK           0x01

#define DEFEKT_G_ROLL           0x02

#define DEFEKT_G_GIER           0x04

#define DEFEKT_A_NICK           0x08

#define DEFEKT_A_ROLL           0x10

#define DEFEKT_A_Z              0x20

#define DEFEKT_PRESSURE         0x40

#define DEFEKT_CAREFREE_ERR     0x80

#define DEFEKT_I2C              0x01

#define DEFEKT_BL_MISSING       0x02

#define DEFEKT_SPI_RX_ERR       0x04

#define DEFEKT_PPM_ERR          0x08

#define DEFEKT_MIXER_ERR        0x10

#define CFG_HOEHENREGELUNG       0x01

#define CFG_HOEHEN_SCHALTER      0x02

#define CFG_HEADING_HOLD         0x04

#define CFG_KOMPASS_AKTIV        0x08

#define CFG_KOMPASS_FIX          0x10

#define CFG_GPS_AKTIV            0x20

#define CFG_ACHSENKOPPLUNG_AKTIV 0x40

#define CFG_DREHRATEN_BEGRENZER  0x80

#define CFG_LOOP_OBEN            0x01

#define CFG_LOOP_UNTEN           0x02

#define CFG_LOOP_LINKS           0x04

#define CFG_LOOP_RECHTS          0x08

#define CFG_MOTOR_BLINK          0x10

#define CFG_MOTOR_OFF_LED1       0x20

#define CFG_MOTOR_OFF_LED2       0x40

#define CFG_RES4                 0x80

#define CFG2_HEIGHT_LIMIT        0x01

#define CFG2_VARIO_BEEP          0x02

#define CFG_SENSITIVE_RC         0x04

#define CFG_3_3V_REFERENCE       0x08

#define CFG0_AIRPRESS_SENSOR            0x01

#define CFG0_HEIGHT_SWITCH              0x02

#define CFG0_HEADING_HOLD               0x04

#define CFG0_COMPASS_ACTIVE             0x08

#define CFG0_COMPASS_FIX                0x10

#define CFG0_GPS_ACTIVE                 0x20

#define CFG0_AXIS_COUPLING_ACTIVE       0x40

#define CFG0_ROTARY_RATE_LIMITER        0x80

// defines for the receiver selection

#define RECEIVER_PPM                    0

#define RECEIVER_SPEKTRUM               1

#define RECEIVER_SPEKTRUM_HI_RES        2

#define RECEIVER_SPEKTRUM_LOW_RES       3

#define RECEIVER_JETI                   4

#define RECEIVER_ACT_DSL                5

#define RECEIVER_UNKNOWN                0xFF

struct s_MK_VersionInfo

{

  unsigned char SWMajor;

  unsigned char SWMinor;

  unsigned char ProtoMajor;

  unsigned char ProtoMinor;

  unsigned char SWPatch;

  unsigned char HardwareError[5];

};

struct s_MK_Debug

{

 unsigned char Digital[2];

 int16_t Analog[32];    // Debugwerte

};

struct s_MK_DebugLabels

{

    int Position;

    QString Text;

};

//typedef int16_t s_MK_PPM_Data[26];

struct s_MK_PPM_Data

{

    int16_t Data[26];

};

struct s_MK_Settings

{

    // Die ersten beiden Bytes nicht an den MK senden.

    unsigned char Index;

    unsigned char Revision;

    unsigned char Kanalbelegung[12];       // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3

    unsigned char GlobalConfig;           // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv

    unsigned char Hoehe_MinGas;           // Wert : 0-100

    unsigned char Luftdruck_D;            // Wert : 0-250

    unsigned char MaxHoehe;               // Wert : 0-32

    unsigned char Hoehe_P;                // Wert : 0-32

    unsigned char Hoehe_Verstaerkung;     // Wert : 0-50

    unsigned char Hoehe_ACC_Wirkung;      // Wert : 0-250

    unsigned char Hoehe_HoverBand;        // Wert : 0-250

    unsigned char Hoehe_GPS_Z;            // Wert : 0-250

    unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250

    unsigned char Stick_P;                // Wert : 1-6

    unsigned char Stick_D;                // Wert : 0-64

    unsigned char Gier_P;                 // Wert : 1-20

    unsigned char Gas_Min;                // Wert : 0-32

    unsigned char Gas_Max;                // Wert : 33-250

    unsigned char GyroAccFaktor;          // Wert : 1-64

    unsigned char KompassWirkung;         // Wert : 0-32

    unsigned char Gyro_P;                 // Wert : 10-250

    unsigned char Gyro_I;                 // Wert : 0-250

    unsigned char Gyro_D;                 // Wert : 0-250

    unsigned char Gyro_Gier_P;            // Wert : 10-250

    unsigned char Gyro_Gier_I;            // Wert : 0-250

    unsigned char Gyro_Stability;         // Wert : 0-16

    unsigned char UnterspannungsWarnung;  // Wert : 0-250

    unsigned char NotGas;                 // Wert : 0-250     //Gaswert bei Empängsverlust

    unsigned char NotGasZeit;             // Wert : 0-250     // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen

    unsigned char Receiver;               // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D

    unsigned char I_Faktor;               // Wert : 0-250

    unsigned char UserParam1;             // Wert : 0-250

    unsigned char UserParam2;             // Wert : 0-250

    unsigned char UserParam3;             // Wert : 0-250

    unsigned char UserParam4;             // Wert : 0-250

    unsigned char ServoNickControl;       // Wert : 0-250     // Stellung des Servos

    unsigned char ServoNickComp;          // Wert : 0-250     // Einfluss Gyro/Servo

    unsigned char ServoNickMin;           // Wert : 0-250     // Anschlag

    unsigned char ServoNickMax;           // Wert : 0-250     // Anschlag

    //--- Seit V0.75

    unsigned char ServoRollControl;       // Wert : 0-250     // Stellung des Servos

    unsigned char ServoRollComp;          // Wert : 0-250

    unsigned char ServoRollMin;           // Wert : 0-250

    unsigned char ServoRollMax;           // Wert : 0-250

    //---

    unsigned char ServoNickRefresh;       // Speed of the Servo

    unsigned char ServoManualControlSpeed;//

    unsigned char CamOrientation;         //

    unsigned char Servo3;                        // Value or mapping of the Servo Output

    unsigned char Servo4;                                // Value or mapping of the Servo Output

    unsigned char Servo5;                                // Value or mapping of the Servo Output

    unsigned char LoopGasLimit;           // Wert: 0-250  max. Gas während Looping

    unsigned char LoopThreshold;          // Wert: 0-250  Schwelle für Stickausschlag

    unsigned char LoopHysterese;          // Wert: 0-250  Hysterese für Stickausschlag

    unsigned char AchsKopplung1;          // Wert: 0-250  Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)

    unsigned char AchsKopplung2;          // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden

    unsigned char CouplingYawCorrection;  // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden

    unsigned char WinkelUmschlagNick;     // Wert: 0-250  180°-Punkt

    unsigned char WinkelUmschlagRoll;     // Wert: 0-250  180°-Punkt

    unsigned char GyroAccAbgleich;        // 1/k  (Koppel_ACC_Wirkung)

    unsigned char Driftkomp;

    unsigned char DynamicStability;

    unsigned char UserParam5;             // Wert : 0-250

    unsigned char UserParam6;             // Wert : 0-250

    unsigned char UserParam7;             // Wert : 0-250

    unsigned char UserParam8;             // Wert : 0-250

    //---Output ---------------------------------------------

    unsigned char J16Bitmask;             // for the J16 Output

    unsigned char J16Timing;              // for the J16 Output

    unsigned char J17Bitmask;             // for the J17 Output

    unsigned char J17Timing;              // for the J17 Output

    // seit version V0.75c

    unsigned char WARN_J16_Bitmask;       // for the J16 Output

    unsigned char WARN_J17_Bitmask;       // for the J17 Output

    //---NaviCtrl---------------------------------------------

    unsigned char NaviGpsModeControl;     // Parameters for the Naviboard

    unsigned char NaviGpsGain;

    unsigned char NaviGpsP;

    unsigned char NaviGpsI;

    unsigned char NaviGpsD;

    unsigned char NaviGpsPLimit;

    unsigned char NaviGpsILimit;

    unsigned char NaviGpsDLimit;

    unsigned char NaviGpsACC;

    unsigned char NaviGpsMinSat;

    unsigned char NaviStickThreshold;

    unsigned char NaviWindCorrection;

    unsigned char NaviSpeedCompensation;

    unsigned char NaviOperatingRadius;

    unsigned char NaviAngleLimitation;

    unsigned char NaviPH_LoginTime;

    //---Ext.Ctrl---------------------------------------------

    unsigned char ExternalControl;         // for serial Control

    //---CareFree---------------------------------------------

    unsigned char OrientationAngle;        // Where is the front-direction?

    unsigned char OrientationModeControl;  // switch for CareFree

    unsigned char MotorSafetySwitch;

    //------------------------------------------------

    unsigned char BitConfig;          // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt

    unsigned char ServoCompInvert;    // //  0x01 = Nick, 0x02 = Roll   0 oder 1  // WICHTIG!!! am Ende lassen

    unsigned char ExtraConfig;        // bitcodiert

    char Name[12];

    unsigned char crc;                            // must be the last byte!

 };

struct s_MK_Mixer

{

    uint8_t Revision;

    char    Name[12];

    int8_t  Motor[16][4];

    uint8_t crc;

};

///////////////

// Navi-Ctrl //

///////////////

#define INVALID         0x00

#define NEWDATA         0x01

#define PROCESSED       0x02

#define NC_FLAG_FREE            0x01

#define NC_FLAG_PH              0x02

#define NC_FLAG_CH              0x04

#define NC_FLAG_RANGE_LIMIT     0x08

#define NC_FLAG_NOSERIALLINK    0x10

#define NC_FLAG_TARGET_REACHED  0x20

#define NC_FLAG_MANUAL_CONTROL  0x40

#define NC_FLAG_8               0x80

#define POINT_TYPE_WP   0

#define POINT_TYPE_POI  1

typedef struct

{

    int32_t Longitude;      // in 1E-7 deg

    int32_t Latitude;       // in 1E-7 deg

    int32_t Altitude;       // in mm

    uint8_t Status;         // validity of data

} __attribute__((packed)) GPS_Pos_t;

typedef struct

{

    uint16_t Distance;      // distance to target in dm

    int16_t Bearing;        // course to target in deg

}  __attribute__((packed)) GPS_PosDev_t;

typedef struct

{

    uint8_t      Version;               // version of the data structure

    GPS_Pos_t    CurrentPosition;               // see ubx.h for details

    GPS_Pos_t    TargetPosition;

    GPS_PosDev_t TargetPositionDeviation;

    GPS_Pos_t    HomePosition;

    GPS_PosDev_t HomePositionDeviation;

    uint8_t      WaypointIndex;         // index of current waypoints running from 0 to WaypointNumber-1

    uint8_t      WaypointNumber;                // number of stored waypoints

    uint8_t      SatsInUse;             // number of satellites used for position solution

    int16_t      Altimeter;             // hight according to air pressure

    int16_t      Variometer;            // climb(+) and sink(-) rate

    uint16_t     FlyingTime;            // in seconds

    uint8_t      UBat;                  // Battery Voltage in 0.1 Volts

    uint16_t     GroundSpeed;           // speed over ground in cm/s (2D)

    int16_t      Heading;               // current flight direction in ° as angle to north

    int16_t      CompassHeading;                // current compass value in °

    int8_t       AngleNick;             // current Nick angle in 1°

    int8_t       AngleRoll;             // current Rick angle in 1°

    uint8_t      RC_Quality;            // RC_Quality

    uint8_t      FCFlags;               // Flags from FC

    uint8_t      NCFlags;               // Flags from NC

    uint8_t      Errorcode;             // 0 --> okay

    uint8_t      OperatingRadius;               // current operation radius around the Home Position in m

    int16_t      TopSpeed;              // velocity in vertical direction in cm/s

    uint8_t      TargetHoldTime;                // time in s to stay at the given target, counts down to 0 if target has been reached

    uint8_t      RC_RSSI;               // Receiver signal strength (since version 2 added)

    int16_t      SetpointAltitude;                      // setpoint for altitude

    uint8_t      Gas;                                           // for future use

    uint16_t     Current;                                       // actual current in 0.1A steps

    uint16_t     UsedCapacity;                          // used capacity in mAh

} __attribute__((packed)) s_MK_NaviData;

typedef struct

{

    GPS_Pos_t Position;          // the gps position of the waypoint, see ubx.h for details

    int16_t   Heading;           // orientation, future implementation

    uint8_t   ToleranceRadius;   // in meters, if the MK is within that range around the target, then the next target is triggered

    uint8_t   HoldTime;          // in seconds, if the was once in the tolerance area around a WP, this time defies the delay before the next WP is triggered

    uint8_t   Event_Flag;        // future emplementation

    uint8_t   Index;             // to indentify different waypoints, workaround for bad communications PC <-> NC

    uint8_t   Type;              // type of Waypoint

    uint8_t   reserve[11];       // reserve

} __attribute__((packed)) s_MK_WayPoint;

#endif // MK_DATATYPES_H